mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 20:48:12 +00:00
Code cleaning (XMEGA)
This commit is contained in:
pascallanger
parent
ee27535b82
commit
043a8336e5
@ -146,6 +146,27 @@ struct PPM_Parameters
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uint8_t option;
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};
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//*******************
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//*** Timer ***
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//*******************
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#ifdef XMEGA
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#define TIFR1 TCC1.INTFLAGS
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#define OCF1A_bm TC1_CCAIF_bm
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#define OCR1A TCC1.CCA
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#define TCNT1 TCC1.CNT
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#define USARTC0.DATA UDR0
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#define OCF1B_bm TC1_CCBIF_bm
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#define OCR1B TCC1.CCB
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#define TCC1.INTCTRLB TIMSK1
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#define SET_TIMSK1_OCIE1B TIMSK1 = (TIMSK1 & 0xF3) | 0x04
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#define CLR_TIMSK1_OCIE1B TIMSK1 &= 0xF3
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#else
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#define OCF1A_bm _BV(OCF1A)
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#define OCF1B_bm _BV(OCF1B)
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#define SET_TIMSK1_OCIE1B TIMSK1 |= _BV(OCIE1B)
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#define CLR_TIMSK1_OCIE1B TIMSK1 &=~_BV(OCIE1B)
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#endif
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//*******************
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//*** Pinouts ***
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//*******************
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@ -29,6 +29,10 @@
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#include "_Config.h"
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#include "TX_Def.h"
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#ifdef XMEGA
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#undef ENABLE_PPM // Disable PPM for orange module
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#endif
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//Global constants/variables
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uint32_t MProtocol_id;//tx id,
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uint32_t MProtocol_id_master;
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@ -135,6 +139,7 @@ void_function_t remote_callback = 0;
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void setup()
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{
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#ifdef XMEGA
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// General pinout
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PORTD.OUTSET = 0x17 ;
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PORTD.DIRSET = 0xB2 ;
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PORTD.DIRCLR = 0x4D ;
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@ -147,6 +152,15 @@ void setup()
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for ( uint8_t count = 0 ; count < 20 ; count += 1 )
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asm("nop") ;
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PORTE.OUTCLR = 0x01 ;
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// Timer1 config
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// TCC1 16-bit timer, clocked at 0.5uS
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EVSYS.CH3MUX = 0x80 + 0x04 ; // Prescaler of 16
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TCC1.CTRLB = 0; TCC1.CTRLC = 0; TCC1.CTRLD = 0; TCC1.CTRLE = 0;
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TCC1.INTCTRLA = 0; TIMSK1 = 0;
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TCC1.PER = 0xFFFF ;
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TCNT1 = 0 ;
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TCC1.CTRLA = 0x0B ; // Event3 (prescale of 16)
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#else
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// General pinout
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DDRD = _BV(A7105_CS_pin)|_BV(SDI_pin)|_BV(SCLK_pin)|_BV( CC25_CSN_pin);//pin output
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@ -154,6 +168,13 @@ void setup()
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DDRB = _BV(NRF_CSN_pin)|_BV(CYRF_CSN_pin); //pin output
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PORTB = _BV(2)|_BV(3)|_BV(4)|_BV(BIND_pin); //pullup on dial (D10=PB2,D11=PB3,D12=PB4) and bind button
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PORTC = _BV(0); //pullup on dial (A0=PC0)
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#ifdef DEBUG_TX
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TX_SET_OUTPUT;
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#endif
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// Timer1 config
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TCCR1A = 0;
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TCCR1B = (1 << CS11); //prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
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#endif
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// Set Chip selects
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@ -165,25 +186,6 @@ void setup()
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SDI_on;
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SCK_off;
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//#ifdef XMEGA
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// // SPI enable, master, prescale of 16
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// SPID.CTRL = SPI_ENABLE_bm | SPI_MASTER_bm | SPI_PRESCALER0_bm ;
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//#endif
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// Timer1 config
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#ifdef XMEGA
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// TCC1 16-bit timer, clocked at 0.5uS
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EVSYS.CH3MUX = 0x80 + 0x04 ; // Prescaler of 16
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TCC1.CTRLB = 0; TCC1.CTRLC = 0; TCC1.CTRLD = 0; TCC1.CTRLE = 0;
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TCC1.INTCTRLA = 0; TCC1.INTCTRLB = 0;
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TCC1.PER = 0xFFFF ;
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TCC1.CNT = 0 ;
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TCC1.CTRLA = 0x0B ; // Event3 (prescale of 16)
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#else
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TCCR1A = 0;
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TCCR1B = (1 << CS11); //prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
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#endif
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// Set servos positions
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for(uint8_t i=0;i<NUM_CHN;i++)
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Servo_data[i]=1500;
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@ -201,8 +203,8 @@ void setup()
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// Read status of mode select binary switch
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// after this mode_select will be one of {0000, 0001, ..., 1111}
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#ifdef XMEGA
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mode_select = MODE_SERIAL ; // only serial mode
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#ifndef ENABLE_PPM
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mode_select = MODE_SERIAL ; // force serial mode
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#else
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mode_select=0x0F - ( ( (PINB>>2)&0x07 ) | ( (PINC<<3)&0x08) );//encoder dip switches 1,2,4,8=>B2,B3,B4,C0
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#endif
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@ -235,11 +237,9 @@ void setup()
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protocol_init();
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#ifndef XMEGA
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//Configure PPM interrupt
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EICRA |=_BV(ISC11); // The rising edge of INT1 pin D3 generates an interrupt request
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EIMSK |= _BV(INT1); // INT1 interrupt enable
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#endif
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#if defined(TELEMETRY)
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PPM_Telemetry_serial_init(); // Configure serial for telemetry
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@ -275,25 +275,14 @@ void loop()
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}
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while(remote_callback==0);
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}
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#ifdef XMEGA
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if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
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{
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cli(); // Disable global int due to RW of 16 bits registers
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TCC1.CCA = TCC1.CNT ; // Callback should already have been called... Use "now" as new sync point.
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sei(); // Enable global int
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}
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else
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while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait before callback
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#else
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if( (TIFR1 & _BV(OCF1A)) != 0)
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if( (TIFR1 & OCF1A_bm) != 0)
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{
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cli(); // Disable global int due to RW of 16 bits registers
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OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point.
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sei(); // Enable global int
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}
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else
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while((TIFR1 & _BV(OCF1A)) == 0); // Wait before callback
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#endif
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while((TIFR1 & OCF1A_bm) == 0); // Wait before callback
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do
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{
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TX_ON;
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@ -306,41 +295,22 @@ void loop()
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while(next_callback>4000)
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{ // start to wait here as much as we can...
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next_callback-=2000; // We will wait below for 2ms
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#ifdef XMEGA
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cli(); // Disable global int due to RW of 16 bits registers
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TCC1.CCA +=2000*2; // set compare A for callback
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TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
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sei(); // enable global int
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Update_All();
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if(IS_CHANGE_PROTOCOL_FLAG_on)
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break; // Protocol has been changed
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while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
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#else
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cli(); // Disable global int due to RW of 16 bits registers
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OCR1A += 2000*2 ; // set compare A for callback
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TIFR1=_BV(OCF1A); // clear compare A=callback flag
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TIFR1=OCF1A_bm; // clear compare A=callback flag
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sei(); // enable global int
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Update_All();
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if(IS_CHANGE_PROTOCOL_FLAG_on)
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break; // Protocol has been changed
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while((TIFR1 & _BV(OCF1A)) == 0); // wait 2ms...
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#endif
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while((TIFR1 & OCF1A_bm) == 0); // wait 2ms...
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}
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// at this point we have a maximum of 4ms in next_callback
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next_callback *= 2 ;
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#ifdef XMEGA
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cli(); // Disable global int due to RW of 16 bits registers
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TCC1.CCA +=next_callback; // set compare A for callback
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TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
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diff=TCC1.CCA-TCC1.CNT; // compare timer and comparator
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sei(); // enable global int
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#else
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cli(); // Disable global int due to RW of 16 bits registers
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OCR1A+= next_callback ; // set compare A for callback
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TIFR1=_BV(OCF1A); // clear compare A=callback flag
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TIFR1=OCF1A_bm; // clear compare A=callback flag
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diff=OCR1A-TCNT1; // compare timer and comparator
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sei(); // enable global int
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#endif
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}
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while(diff&0x8000); // Callback did not took more than requested time for next callback
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// so we can launch Update_All before next callback
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@ -349,10 +319,6 @@ void loop()
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void Update_All()
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{
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TX_ON;
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NOP();
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TX_OFF;
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#ifdef ENABLE_SERIAL
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if(mode_select==MODE_SERIAL && IS_RX_FLAG_on) // Serial mode and something has been received
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{
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@ -389,9 +355,6 @@ TX_OFF;
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if( (protocol==MODE_FRSKY) || (protocol==MODE_HUBSAN) || (protocol==MODE_FRSKYX) || (protocol==MODE_DSM) )
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TelemetryUpdate();
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#endif
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TX_ON;
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NOP();
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TX_OFF;
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}
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// Update Servo_AUX flags based on servo AUX positions
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@ -447,9 +410,11 @@ inline void tx_resume()
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#ifdef XMEGA
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USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ; // Resume telemetry by enabling transmitter interrupt
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#else
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#ifndef BASH_SERIAL
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UCSR0B |= _BV(UDRIE0); // Resume telemetry by enabling transmitter interrupt
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#endif
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#endif
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#endif
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}
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// Protocol start
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@ -671,15 +636,9 @@ static void protocol_init()
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next_callback-=temp<<10; // between 2-3ms left at this stage
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}
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cli(); // disable global int
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#ifdef XMEGA
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TCC1.CCA = TCC1.CNT + next_callback*2; // set compare A for callback
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sei(); // enable global int
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TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A flag
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#else
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OCR1A = TCNT1 + next_callback*2;// set compare A for callback
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sei(); // enable global int
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TIFR1=_BV(OCF1A); // clear compare A flag
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#endif
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TIFR1 = OCF1A_bm ; // clear compare A flag
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BIND_BUTTON_FLAG_off; // do not bind/reset id anymore even if protocol change
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}
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@ -835,7 +794,6 @@ uint16_t limit_channel_100(uint8_t ch)
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void Mprotocol_serial_init()
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{
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#ifdef XMEGA
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PORTC.OUTSET = 0x08 ;
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PORTC.DIRSET = 0x08 ;
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@ -845,7 +803,7 @@ void Mprotocol_serial_init()
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USARTC0.CTRLB = 0x18 ;
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USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
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USARTC0.CTRLC = 0x2B ;
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USARTC0.DATA ;
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UDR0 ;
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#ifdef INVERT_TELEMETRY
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PORTC.PIN3CTRL |= 0x40 ;
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#endif
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@ -860,9 +818,7 @@ void Mprotocol_serial_init()
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UDR0;
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//enable reception and RC complete interrupt
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UCSR0B = _BV(RXEN0)|_BV(RXCIE0);//rx enable and interrupt
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#ifdef DEBUG_TX
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TX_SET_OUTPUT;
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#else
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#ifndef DEBUG_TX
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#if defined(TELEMETRY)
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initTXSerial( SPEED_100K ) ;
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#endif //TELEMETRY
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@ -1076,11 +1032,7 @@ ISR(INT1_vect, ISR_NOBLOCK)
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static uint16_t Prev_TCNT1=0;
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uint16_t Cur_TCNT1;
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#ifdef XMEGA
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Cur_TCNT1 = TCC1.CNT - Prev_TCNT1 ; // Capture current Timer1 value
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#else
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Cur_TCNT1 = TCNT1 - Prev_TCNT1 ; // Capture current Timer1 value
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#endif
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if(Cur_TCNT1<1000)
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chan=-1; // bad frame
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else
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@ -1120,34 +1072,20 @@ ISR(USART_RX_vect)
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if(idx==0||discard_frame==1)
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{ // Let's try to sync at this point
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idx=0;discard_frame=0;
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#ifdef XMEGA
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if(USARTC0.DATA==0x55) // If 1st byte is 0x55 it looks ok
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#else
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if(UDR0==0x55) // If 1st byte is 0x55 it looks ok
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#endif
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{
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TX_RX_PAUSE_on;
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tx_pause();
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#ifdef XMEGA
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TCC1.CCB = TCC1.CNT+(6500L) ; // Full message should be received within timer of 3250us
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TCC1.INTFLAGS = TC1_CCBIF_bm ; // clear OCR1B match flag
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TCC1.INTCTRLB = (TCC1.INTCTRLB & 0xF3) | 0x04 ; // enable interrupt on compare B match
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#else
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OCR1B=TCNT1+6500L; // Full message should be received within timer of 3250us
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TIFR1=_BV(OCF1B); // clear OCR1B match flag
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TIMSK1 |=_BV(OCIE1B); // enable interrupt on compare B match
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#endif
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OCR1B = TCNT1+(6500L) ; // Full message should be received within timer of 3250us
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TIFR1 = OCF1B_bm ; // clear OCR1B match flag
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SET_TIMSK1_OCIE1B ; // enable interrupt on compare B match
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idx++;
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}
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}
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else
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{
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RX_MISSED_BUFF_off; // if rx_buff was good it's not anymore...
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#ifdef XMEGA
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rx_buff[(idx++)-1]=USARTC0.DATA; // Store received byte
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#else
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rx_buff[(idx++)-1]=UDR0; // Store received byte
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#endif
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if(idx>RXBUFFER_SIZE)
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{ // A full frame has been received
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if(!IS_RX_DONOTUPDTAE_on)
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@ -1163,20 +1101,12 @@ ISR(USART_RX_vect)
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}
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else
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{
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#ifdef XMEGA
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idx = USARTC0.DATA; // Dummy read
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#else
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idx=UDR0; // Dummy read
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#endif
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discard_frame=1; // Error encountered discard full frame...
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}
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if(discard_frame==1)
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{
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#ifdef XMEGA
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TCC1.INTCTRLB &=0xF3; // Disable interrupt on compare B match
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#else
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TIMSK1 &=~_BV(OCIE1B); // Disable interrupt on compare B match
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#endif
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CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match
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TX_RX_PAUSE_off;
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tx_resume();
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}
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@ -1190,16 +1120,11 @@ ISR(USART_RX_vect)
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#ifdef XMEGA
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ISR(TCC1_CCB_vect)
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#else
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//ISR(TIMER1_COMPB_vect)
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ISR(TIMER1_COMPB_vect, ISR_NOBLOCK )
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#endif
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{ // Timer1 compare B interrupt
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discard_frame=1;
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#ifdef XMEGA
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TCC1.INTCTRLB &=0xF3; // Disable interrupt on compare B match
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#else
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TIMSK1 &=~_BV(OCIE1B); // Disable interrupt on compare B match
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#endif
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CLR_TIMSK1_OCIE1B; // Disable interrupt on compare B match
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tx_resume();
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}
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#endif //ENABLE_SERIAL
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@ -1,7 +1,7 @@
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//*************************************
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// FrSky Telemetry serial code *
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//**************************
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// Telemetry serial code *
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// By Midelic on RCGroups *
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//*************************************
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//**************************
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#if defined TELEMETRY
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@ -30,7 +30,6 @@ uint8_t frame[18];
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#ifdef BASH_SERIAL
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// For bit-bashed serial output
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struct t_serial_bash
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{
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uint8_t head ;
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@ -540,18 +539,10 @@ ISR(USART_UDRE_vect)
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{
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if(++tx_tail>=TXBUFFER_SIZE)//head
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tx_tail=0;
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#ifdef XMEGA
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USARTC0.DATA = tx_buff[tx_tail] ;
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#else
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UDR0=tx_buff[tx_tail];
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#endif
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}
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if (tx_tail == tx_head)
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#ifdef XMEGA
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USARTC0.CTRLA &= ~0x03 ;
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#else
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UCSR0B &= ~(1<<UDRIE0); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
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#endif
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tx_pause(); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
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}
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#else //BASH_SERIAL
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